CN214488598U

CN214488598U - Robot unloading mechanism of ladle body bender

Info

Publication number: CN214488598U
Application number: CN202120104494.3U
Authority: CN
Inventors: 陶初明; 杨书贵
Original assignee: Guangdong Cuifeng Robotics Technology Ltd
Current assignee: Guangdong Cuifeng Robotics Technology Ltd
Priority date: 2021-01-15
Filing date: 2021-01-15
Publication date: 2021-10-26
Anticipated expiration: 2031-01-15

Abstract

The utility model discloses a robot blanking mechanism of a barrel body bending machine, which comprises a first multi-shaft manipulator and a second multi-shaft manipulator which are arranged oppositely and are respectively used for driving a first embracing palm and a second embracing palm; the first embracing palm and the second embracing palm are respectively provided with a first clamping device and a second clamping device, the first clamping device and the second clamping device are respectively used for clamping the left side and the right side of the barrel body, and the first embracing palm is further provided with a first positioning device for positioning the barrel body in the front-back direction. The utility model has the advantages of the clamping is stable, ladle body non-deformable in the transportation.

Description

Robot unloading mechanism of ladle body bender

Technical Field

The utility model belongs to the technical field of the equipment technique of bending and specifically relates to a robot unloading mechanism of ladle body bender.

Background

With the development of science and technology, an automation technology appears, and the automation technology gradually replaces manual operation by virtue of the advantages of low human resource cost, high working efficiency and the like.

The existing bending operation also adopts an automatic technology to carry out blanking on a workpiece formed by bending; after the barrel bodies of large garbage cans and the like are bent and formed, because the hollow barrel bodies are not subjected to subsequent reinforcement treatment, the existing robot blanking mechanism adopts a single mechanical hand to clamp and complete turnover and transportation from one side wall of the barrel bodies, and the mode of clamping on one side can cause that all parts of the barrel bodies are stressed unevenly and generate certain deformation.

Thus, the prior art is subject to improvement and advancement.

SUMMERY OF THE UTILITY MODEL

The utility model provides a technical problem to the problem among the above-mentioned prior art, provide a robot unloading mechanism of ladle body bender.

In order to solve the technical problem, the utility model discloses a technical scheme as follows: a robot blanking mechanism of a barrel body bending machine comprises a first multi-shaft manipulator and a second multi-shaft manipulator which are arranged oppositely and are respectively used for driving a first embracing palm and a second embracing palm; the first embracing palm and the second embracing palm are respectively provided with a first clamping device and a second clamping device, the first clamping device and the second clamping device are respectively used for clamping the left side and the right side of the barrel body, and the first embracing palm is further provided with a first positioning device for positioning the barrel body in the front-back direction.

As a further elaboration of the above technical solution:

in the above technical solution, the first multi-axis robot and/or the second multi-axis robot is a six-axis robot.

In the above technical solution, the first embracing palm further includes: a first support connected to the first multi-axis robot; the first adsorption component is arranged below the first bracket and is used for adsorbing the left side wall of the barrel body; and the second adsorption part is arranged on the first support and used for adsorbing the top wall of the barrel body.

In the above technical solution, the first adsorption member includes a first cylinder installed below the first bracket; the first air cylinder drives the first suction nozzle to move left and right.

In the above technical solution, the first positioning device includes a first mounting seat and a second mounting seat oppositely disposed at the front end and the rear end of the first bracket; a second air cylinder and a third air cylinder are oppositely arranged on the first mounting seat and the second mounting seat; the second cylinder and the third cylinder respectively drive the first push block and the second push block to move back and forth.

In the technical scheme, the first installation seat is provided with a first guide rod arranged along the left-right direction and is in sliding fit with a first guide sleeve on the first support; the free end of the first guide rod penetrates through the first guide sleeve and then is connected with a first limiting part, and a first return spring is abutted between the first limiting part and the first guide sleeve; the second mounting seat is provided with a second guide rod arranged along the left-right direction and is in sliding fit with the second guide sleeve on the first support; the free end of the second guide rod penetrates through the second guide sleeve and then is connected with a second limiting part, and a second return spring is abutted between the second limiting part and the second guide sleeve.

In the above technical solution, the two first clamping devices are pneumatic fingers and are respectively mounted on the first mounting seat and the second mounting seat.

In the above technical solution, the second embracing palm further includes: the second bracket is connected to the second multi-axis manipulator; the third adsorption part is arranged on the second bracket and is used for adsorbing the right side wall of the barrel body; and the second positioning device is used for positioning the front and back directions of the barrel body.

In the above technical solution, the second positioning device includes a third mounting seat and a fourth mounting seat oppositely disposed at the front end and the rear end of the second bracket; a fourth cylinder and a fifth cylinder are oppositely arranged on the third mounting seat and the fourth mounting seat; the fourth cylinder and the fifth cylinder respectively drive the third pushing block and the fourth pushing block to move back and forth.

In the above technical solution, the two second clamping devices are finger cylinders and are respectively mounted on the third mounting seat and the fourth mounting seat.

The beneficial effects of the utility model reside in that:

the utility model discloses a two sets of manipulators work in coordination, and two sets of manipulators are controlled respectively and are firstly closed to embrace the palm and the palm is closed to the second to the both sides wall that the centre gripping ladle body is relative respectively, make the ladle body more even reasonable at the in-process atress of turnover transportation.

Drawings

Fig. 1 is a perspective view of the present invention;

fig. 2 is a schematic structural view of a first embracing palm according to the present invention;

fig. 3 is a schematic structural view of a second embracing palm of the present invention.

The reference numbers in the figures are respectively:

1. a first multi-axis manipulator;

2. a second multi-axis manipulator;

3. a first embracing palm; 31. a first holding device; 32. a first bracket; 331. a first guide bar; 332. a first guide sleeve; 323. a first limit member; 324. a first return spring; 325. a second guide bar; 326. a second guide sleeve; 327. a second limiting component; 328. a second return spring; 33. a first adsorption member; 331. a first cylinder; 332. a first suction nozzle; 34. a second adsorption member; 35. a first positioning device; 351. a first mounting seat; 352. a second mounting seat; 353. a second cylinder; 354. a third cylinder; 355. a first push block; 356. a second push block;

4. the second embracing palm; 41. a second holding device; 42. a second bracket; 43. a third adsorption member; 44. a second positioning device; 441. a third mounting seat; 442. a fourth mounting seat; 443. a fourth cylinder; 444. a fifth cylinder; 445. a third push block; 446. and a fourth push block.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

The embodiments described by referring to the drawings are exemplary and intended to be used for explaining the present application and are not to be construed as limiting the present application. In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and thus should not be considered limiting. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise. In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral connections; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate. In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact of the first and second features, or may comprise contact of the first and second features not directly but through another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly above and obliquely above the second feature, or simply meaning that the first feature is at a lesser level than the second feature.

Fig. 1-3 illustrate a robot blanking mechanism of a barrel bending machine, which is a robot blanking mechanism of a barrel bending machine according to the present invention, and is characterized in that the robot blanking mechanism comprises a first multi-axis manipulator 1 and a second multi-axis manipulator 2, which are arranged oppositely, and are respectively used for driving a first embracing palm 3 and a second embracing palm 4; the first embracing palm 3 and the second embracing palm 4 are respectively provided with a first clamping device 31 and a second clamping device 41, and the first clamping device 31 and the second clamping device 41 are respectively used for clamping the left side and the right side of the barrel body.

The utility model discloses a theory of operation is: firstly, after a barrel body is bent and molded, the first multi-axis manipulator 1 and the second multi-axis manipulator 2 respectively drive the first embracing palm 3 and the second embracing palm 4 to gather together so as to clamp the left side and the right side of the barrel body; then, the first multi-axis manipulator 1 and the second multi-axis manipulator 2 work cooperatively, so that the first embracing palm 3 and the second embracing palm 4 synchronously transport the barrel away; in the transferring process, because the left side and the right side of the barrel body are simultaneously stressed, the condition that one side of the barrel body is stressed and the other side of the barrel body is deformed is not easy to occur.

It will be appreciated that in other embodiments the first multi-axis robot 1 and/or the second multi-axis robot 2 is a six-axis robot.

With continued reference to fig. 2, it is understood that in other embodiments, the first embracing palm 3 further includes: a first bracket 32 connected to the first multi-axis robot 1; a first adsorption member 33 provided below the first bracket 32 for adsorbing a left sidewall of the tub; a second adsorption part 34 provided on the first bracket 32 for adsorbing a top wall of the tub; and a first positioning device 35 for positioning the tub in a front-rear direction.

The working principle of the first embracing palm 3 is as follows: first, the first multi-axis manipulator 1 drives the first embracing palm 3 to move to the left side of the barrel body side, so that the second adsorption part 34 is attached to the top wall of the barrel body; then, the first positioning device 35 is used for guiding the front and back direction of the barrel body; next, the second adsorption part 34 tightly adsorbs the top wall of the barrel body; finally, the first suction member 33 sucks the left side wall of the tub tightly.

Wherein, the second suction parts 34 are a plurality of vacuum suction nozzles.

Wherein the first adsorption part 33 includes a first cylinder 331 installed below the first bracket 32; the first air cylinder 331 drives the first suction nozzle 332 to move left and right, and when in operation: when the first positioning device 35 finishes positioning the front and rear direction of the barrel, the first cylinder 331 drives the first suction nozzle 332 to move to be attached to the left sidewall of the barrel, and finally the first suction nozzle 332 tightly sucks the left sidewall of the barrel.

The first positioning device 35 includes a first mounting seat 351 and a second mounting seat 352 oppositely disposed at the front and rear ends of the first bracket 32; a second air cylinder 353 and a third air cylinder 354 are oppositely arranged on the first mounting seat 351 and the second mounting seat 352; the second cylinder 353 and the third cylinder 354 respectively drive the first pushing block 355 and the second pushing block 356 to move back and forth. The working principle of the first positioning device 35 is as follows: the second cylinder 353 with the third cylinder 354 simultaneous working, respectively first ejector pad 355 with second ejector pad 356 gathers together, and meanwhile the in-process, first ejector pad 355 with second ejector pad 356 promotes the location of ladle body completion fore-and-aft direction from the front and back both ends of ladle body, and then has improved the utility model discloses subsequent transportation or balance in-process put the position precision.

Wherein, the first installation seat 351 is provided with a first guide rod 331 arranged along the left-right direction and is in sliding fit with the first guide sleeve 332 on the first bracket 32; the free end of the first guide rod 331 passes through the first guide sleeve 332 and then is connected with a first limiting part 323, and a first return spring 324 is abutted between the first limiting part 323 and the first guide sleeve 332. The second mounting seat 352 is provided with a second guide rod 325 arranged along the left-right direction, and is in sliding fit with the second guide sleeve 326 on the first bracket 32; the free end of the second guide rod 325 passes through the second guide sleeve 326 and then is connected with a second limiting part 327, and a second return spring 328 is abutted between the second limiting part 327 and the second guide sleeve 326; further, a good buffer is formed between the tub and the first frame 32.

Two first clamping devices 31 are provided, and are pneumatic fingers, and are respectively mounted on the first mounting seat 351 and the second mounting seat 352; after the barrel body is bent and formed, the barrel body is of a structure with openings at the front end and the rear end, and the two pneumatic fingers respectively clamp the side walls of the end edges of the openings at the two ends of the barrel body.

With continued reference to fig. 3, it is understood that in other embodiments, the second embracing palm 4 further includes: a second bracket 42 connected to the second multi-axis robot 2; a third adsorption part 43 provided on the second bracket 42 for adsorbing the right sidewall of the tub; and a second positioning device 44 for positioning the tub in a front-rear direction.

The working principle is as follows: firstly, the second positioning device 44 and the first positioning device 35 synchronously complete the positioning of the front and back direction of the barrel body; then, the second clamping device 41 clamps and fixes the side wall of the barrel body; finally, the third suction member 43 is tightly sucked to the right side wall of the tub, wherein the third suction member 43 is also a vacuum chuck.

The second positioning device 44 includes a third mounting seat 441 and a fourth mounting seat 442 oppositely disposed at the front and rear ends of the second bracket 42; a fourth cylinder 443 and a fifth cylinder 444 are oppositely arranged on the third mounting seat 441 and the fourth mounting seat 442; the fourth cylinder 443 and the fifth cylinder 444 drive the third push block 445 and the fourth push block 446 to move back and forth, respectively. The working principle of the second positioning device 44 is as follows: the fourth cylinder 443 with the simultaneous working of fifth cylinder 444, respectively the third ejector pad 445 with the fourth ejector pad 446 is gathered together, and meanwhile, in-process, the third ejector pad 445 with fourth ejector pad 446 promotes the barrel from the front and back both ends of barrel and accomplishes the location of fore-and-aft direction, and then has improved the utility model discloses subsequent transportation or balance swing in-process put the position precision.

The number of the second clamping devices 41 is two, and the two second clamping devices are finger cylinders and are respectively mounted on the third mounting seat 441 and the fourth mounting seat 442; after the barrel body is bent and formed, the barrel body is of a structure with openings at the front end and the rear end, and the finger cylinders respectively clamp the side walls of the end edges of the openings at the two ends of the barrel body.

The above is not intended to limit the technical scope of the present invention, and any modifications, equivalent changes and modifications made to the above embodiments according to the technical spirit of the present invention are all within the scope of the technical solution of the present invention.

Claims

1. The robot blanking mechanism of the barrel body bending machine is characterized by comprising a first multi-shaft manipulator and a second multi-shaft manipulator which are arranged oppositely and used for driving a first embracing palm and a second embracing palm respectively; the first embracing palm and the second embracing palm are respectively provided with a first clamping device and a second clamping device, the first clamping device and the second clamping device are respectively used for clamping the left side and the right side of the barrel body, and the first embracing palm is further provided with a first positioning device for positioning the barrel body in the front-back direction.

2. The robotic blanking mechanism of a barrel bending machine according to claim 1, wherein said first multi-axis robot and/or said second multi-axis robot is a six-axis robot.

3. The robotic blanking mechanism of the ladle bending machine as recited in claim 1, wherein the first embracing palm further comprises:

a first support connected to the first multi-axis robot;

the first adsorption component is arranged below the first bracket and is used for adsorbing the left side wall of the barrel body;

and the second adsorption part is arranged on the first support and used for adsorbing the top wall of the barrel body.

4. The robotic blanking mechanism of the ladle bender according to claim 3, wherein said first suction means comprises a first cylinder mounted below said first support; the first air cylinder drives the first suction nozzle to move left and right.

5. The robot blanking mechanism of the barrel bending machine as claimed in claim 3, wherein the first positioning device comprises a first mounting seat and a second mounting seat which are oppositely arranged at the front end and the rear end of the first bracket; a second air cylinder and a third air cylinder are oppositely arranged on the first mounting seat and the second mounting seat; the second cylinder and the third cylinder respectively drive the first push block and the second push block to move back and forth.

6. The robot blanking mechanism of the ladle bender according to claim 5, wherein said first mounting seat is provided with a first guide rod arranged in the left-right direction, and is in sliding fit with a first guide sleeve on said first support; the free end of the first guide rod penetrates through the first guide sleeve and then is connected with a first limiting part, and a first return spring is abutted between the first limiting part and the first guide sleeve;

the second mounting seat is provided with a second guide rod arranged along the left-right direction and is in sliding fit with the second guide sleeve on the first support; the free end of the second guide rod penetrates through the second guide sleeve and then is connected with a second limiting part, and a second return spring is abutted between the second limiting part and the second guide sleeve.

7. The robot blanking mechanism of the barrel bending machine as claimed in claim 5, wherein the number of the first clamping devices is two, and the first clamping devices are pneumatic fingers and are respectively mounted on the first mounting seat and the second mounting seat.

8. The robotic blanking mechanism of the ladle bending machine as recited in claim 1, wherein the second embracing palm further comprises:

the second bracket is connected to the second multi-axis manipulator;

the third adsorption part is arranged on the second bracket and is used for adsorbing the right side wall of the barrel body;

and the second positioning device is used for positioning the front and back directions of the barrel body.

9. The robotic blanking mechanism of the ladle bending machine as claimed in claim 8, wherein the second positioning device comprises a third mounting seat and a fourth mounting seat oppositely arranged at the front end and the rear end of the second bracket; a fourth cylinder and a fifth cylinder are oppositely arranged on the third mounting seat and the fourth mounting seat; the fourth cylinder and the fifth cylinder respectively drive the third pushing block and the fourth pushing block to move back and forth.

10. The robot blanking mechanism of the ladle bending machine according to claim 9, wherein the two second clamping devices are finger cylinders and are respectively mounted on the third mounting seat and the fourth mounting seat.